Robot hand guide device

Abstract

The invention relates to a robot hand guide device (12), having a first connection flange (14.1), which is designed to connect the robot hand guide device (12) to a tool flange (8) of a robot arm (2), a second connection flange (14.2), which is designed to fasten a tool (11) to be handled by the robot arm (2) to the robot hand guide device (12), and a transfer apparatus (13), which is designed to transfer forces and torques between the first connection flange (14.1) and the second connection flange (14.2) and a sensor device (15) attached to the transfer apparatus (13), said sensor device being designed to detect the forces and torques transferred via the transfer apparatus (13), wherein the robot hand guide device (12) has at least one first connection means (16.1), which is connected to the first connection flange (14.1), and the at least one first connection means (16.1) is designed for detachably connecting a guide handle (17) of the robot hand guide device (12) to the first connection flange (14.1).

Description

[0001] The invention relates to a robot hand-held device, comprising a first connecting flange which is designed to connect the robot hand-held device to a tool flange of a robot arm, a second connecting flange which is designed to fasten a tool to be handled by the robot arm to the robot hand-held device, a transmission device which is designed to transmit forces and moments between the first connecting flange and the second connecting flange and a sensor device attached to the transmission device which is designed to detect the forces and moments transmitted via the transmission device.

[0002] JP H11 231925 A shows such a robot hand-held guiding device with a robot control by means of a non-detachable guide handle attached to a robot arm.

[0003] DE 10 2016 222675 A1 describes a robot handheld device for manually guiding a robot arm by manually acting on a handle of the robot handheld device mechanically coupled to the robot arm.

[0004] WO 2017 / 060540 A1 discloses a robot system having at least one robot arm and a display device and an input device attached to the robot arm, which is non-releasably connected to the robot arm.

[0005] DE 10 2015 200 514 B3 describes a force / torque sensor device, comprising a first connecting flange with a plurality of flange bores of a first bore pattern, a second connecting flange with a plurality of flange threaded bores of a second bore pattern aligned with the first bore pattern and at least one deformation section connecting the first connecting flange to the second connecting flange, which has at least one deformation sensor that is connected to an evaluation device, wherein the flange threaded bores of the second connecting flange each have a diameter that is larger than the diameter of the respectively aligned flange bore of the first connecting flange, and at least so larger that fastening screws,which, for flanging the first connecting flange, can only be inserted into the flange holes of the first connecting flange with their threaded shafts and can also be passed through the flange thread holes of the second connecting flange with their screw heads.

[0006] The object of the invention is to create a robot hand-held guidance device with which a robot arm can be manually guided and programmed in a particularly flexible and positionally accurate manner.

[0007] This object is achieved according to the invention by a robot hand-held device according to claim 1.

[0008] A robot hand-held device is generally used to adjust a robot arm, which in another operating mode can also be controlled automatically by a robot controller, particularly according to a robot program, in manual operation mode by a person manually guiding the robot arm. In particular, a robot hand-held device is used to manually move and adjust a tool flange of the robot arm in space, with the individual joints of the robot arm, driven by an electric motor, following the manually initiated movement of the tool flange. The joints of the robot arm are adjusted (semi-)automatically, controlled by the robot controller in conjunction with appropriate drive amplifiers.In order for manual movement of the tool flange to be possible at all, the directions, orientations and / or amounts of forces and / or moments that a person introduces into the robot hand-held device, for example via a handle on the robot hand-held device, must be recorded. This is because the links of the robot arm are not moved, i.e. adjusted, by the human force of the person guiding them, but, as already mentioned, by the motors assigned to the joints of the robot arm, which are controlled by the robot controller. The robot controller therefore requires information about the directions, orientations and / or amounts of forces and / or moments that a person introduces into the robot hand-held device, for example via a handle on the robot hand-held device, in order to be able to control the joints of the robot arm accordingly (semi-automatically) on this basis.

[0009] In order to detect the directions, orientations, and / or magnitudes of the forces and / or moments introduced into the robot handheld device by a person via the handle, the robot handheld device has at least one sensor device that detects the forces and / or moments introduced into the robot handheld device via the handle. Such a robot handheld device or such a sensor device is generally known, for example, from DE 10 2015 200 514 B3.

[0010] The transmission device according to the present invention can comprise a plurality of deformation sections and associated sensors, such as strain gauges (SGs), as disclosed in DE 10 2015 200 514 B3. The deformation sections are designed accordingly and connect the first connecting flange to the second connecting flange in such a way that forces and / or moments introduced into the robot hand-held device by a person, for example, via a handle of the robot hand-held device, lead to specific deformations, in particular bendings, of the deformation sections. These deformations, in particular bendings, are then detected by the deformation sensors, i.e., sensor devices.

[0011] The transmission device may have a plurality of deformation sections and each deformation section may have a plurality of deformation sensors.

[0012] The sensor device can be designed for one-dimensional or multi-dimensional detection of forces and / or moments. For example, the sensor device can be designed for six-dimensional detection, in particular for detecting forces in the three Cartesian spatial directions and for detecting moments about the three Cartesian spatial directions.

[0013] The one or more deformation sections can be formed by bending sections, in particular web-shaped bending sections, which connect the two connecting flanges; in particular, the one or more deformation sections can be formed in one piece with the two connecting flanges, in particular from one piece, ie made from solid material.

[0014] The sensor device can, for example, comprise several one-dimensional or multi-dimensional strain gauge measuring strips or strain gauge measuring fields. A single strain sensor can, for example, be a one-dimensional or multi-dimensional strain gauge measuring strip or a strain gauge measuring field.

[0015] The first connecting means can be arranged directly on the first connecting flange. However, the first connecting means does not have to be fastened directly to the first connecting flange. Rather, the first connecting means can also be arranged on a component of the robot hand-held device that is different from the first connecting flange, provided that this component is rigidly connected to the first connecting flange. Functionally, the first connecting means must be designed such that forces and / or moments that a person introduces into the first connecting means using the guide handle connected to the first connecting means are transmitted unchanged, i.e., unaltered, to the first connecting flange.

[0016] By the robot hand-held device having at least one first connecting means which is connected to the first connecting flange, and the at least one first connecting means being designed for detachably connecting a guide handle of the robot hand-held device to the first connecting flange, a robot hand-held device is created with which a robot arm can be manually guided and programmed in a particularly flexible and positionally accurate manner.

[0017] The detachability of the guide handle from the connecting flange offers several advantages. For example, the guide handle in its basic design can be easily detached from the robot hand-held device, reducing the outer contour of the robot hand-held device when the guide handle is not needed, for example, when the robot arm is moved automatically by the robot controller in automatic mode according to a robot program, without manual guidance.

[0018] In the further embodiments described in more detail below, even further advantages can arise due to the detachability of the guide handle. For example, in the case of a plurality of first connecting means or a plurality of second connecting means, the guide handle can be optionally attached to different points on the same connecting flange, i.e. the first connecting flange or the second connecting flange. For example, depending on the location of a person operating the robot relative to the robot arm, for example standing to the right of the robot arm or to the left of the robot arm, the guide handle can be attached to one side of the respective connecting flange or to another, for example opposite, side of the respective connecting flange, depending on where the person is located.

[0019] The second connection means can be arranged directly on the second connection flange. However, the second connection means does not have to be fastened directly to the second connection flange. Rather, the second connection means can also be arranged on a component of the robot hand-held device that is different from the second connection flange, provided that this component is rigidly connected to the second connection flange. Functionally, the second connection means must be designed such that forces and / or moments that a person introduces into the second connection means using the guide handle connected to the second connection means are transmitted unchanged, i.e., unadulterated, to the second connection flange.

[0020] Since the at least one first connecting means and the at least one second connecting means are designed for selectively detachably connecting a guide handle of the robot hand-held device to the first connecting flange or the second connecting flange, the forces and / or moments that a person introduces into the robot hand-held device via the guide handle can be selectively introduced between the tool flange of the robot and the sensor device of the robot hand-held device or between the sensor device and the tool.

[0021] If the guide handle is connected to the robot hand-held device such that the guide handle is positioned between the robot's tool flange and the sensor device of the robot hand-held device, process forces and / or process torques can be detected by the sensor device when the guide handle moves the robot hand-held device connected to the robot arm together with the robot arm, and a tool connected to the robot hand-held device is handled. Manual movement of the robot arm's joints can be achieved, for example, based on joint torque sensors on the robot arm itself or by evaluating the motor currents of the robot arm's joint motors assigned to the respective joints of the robot arm.

[0022] If the guide handle is connected to the robot handheld device such that the guide handle is positioned between the sensor device and the tool, the robot arm's joint movements can be controlled in manual operation based on the sensor signals from the sensor device. In this case, the robot arm itself does not require corresponding sensors, such as joint torque sensors. Without a second sensor device, however, it is then not possible to measure the process forces and / or process torques of the tool using the robot handheld device.

[0023] If additional detection of process forces and / or process moments of the tool is desired, the robot hand-held device can be supplemented by a second sensor device, as will be described below, so that both manual operation using the robot hand-held device is possible and, at the same time, detection of process forces and / or process moments of the tool can take place.

[0024] The first connecting means and the second connecting means can each have a mechanical coupling device which is designed for the non-positive and / or positive mechanical connection of the guide handle optionally to the respective first connecting flange or second connecting flange.

[0025] The mechanical coupling device transmits the forces and / or moments that a person introduces into the connecting means by means of the guide handle connected to the respective connecting means, unchanged, i.e. unadulterated, into the associated connecting flange.

[0026] The respective mechanical coupling device of the first connecting means and the second connecting means can have a mechanical safety device which is designed to permit operation of the guide handle exclusively either on the first connecting means or on the second connecting means.

[0027] The first mechanical coupling device or the plurality of first mechanical coupling devices of the first connecting means, or the second mechanical coupling device or the plurality of second mechanical coupling devices of the second connecting means, are identical types of coupling devices. The guide handle has a corresponding mating coupling device that fits together.

[0028] The mechanical safety device can thus be designed to mechanically lock the at least one second connecting means in a state in which the guide handle is connected to the first connecting means, so that no further guide handle can be coupled there.

[0029] In the case of a plurality of first connecting means on the first connecting flange, the mechanical safety device can also be designed to mechanically lock the further first connecting means in a state in which the guide handle is connected to one of the plurality of first connecting means, so that no further guide handle can be coupled to this further first connecting means.

[0030] Analogously, in the case of a plurality of second connecting means on the second connecting flange, the mechanical safety device can also be designed in such a way that, in a state in which the guide handle is connected to one of the plurality of second connecting means, the further second connecting means can be mechanically locked, so that no further guide handle can be coupled to this further first connecting means.

[0031] The first connection means and the second connection means can each have an electrical contact means which are designed to electrically connect an enabling switch, a confirmation switch and / or an emergency stop switch of the guide handle to an electrical control device in a state of the guide handle which is mechanically coupled to the respective first connection flange or second connection flange.

[0032] In this respect, the guide handle can have an enabling switch, a confirmation switch, and / or an emergency stop switch. The electrical contact means can be, for example, an electrical plug, an electrical socket, or an electrical coupling. The guide handle has a corresponding electrical mating connection means or electrical mating contact means that fits together. The electrical contact means of the first connection means or of the plurality of first connection means and the electrical contact means of the second connection means or of the plurality of second connection means are identical types of contact means.

[0033] The robot hand-held guiding device can have a safety control device which is designed to permit operation of the guide handle via the respective electrical contact means of the first connecting means and the second connecting means exclusively either in a state mechanically coupled to the first connecting means or in a state mechanically coupled to the second connecting means.

[0034] In this way, a safety device can be created electronically instead of a mechanical device, which prevents two guide handles from being functionally coupled to the robot hand-held device at two different locations simultaneously. The safety control device can also be configured to adjust, i.e., calibrate, the sensor devices of the robot hand-held device depending on the orientation of the guide handle relative to the robot hand-held device, i.e., depending on the location of the guide handle on one of the connecting means.

[0035] The electrical control device, the safety control device, and / or evaluation electronics for the sensor device can be housed in the guide handle and / or in the robot hand-held device. The evaluation electronics can, for example, be designed to generate signals correlating to the forces and / or moments from the signals of the sensor devices, which, in the case of strain gauges, can be voltage and / or current changes corresponding to a change in electrical resistance, and to provide them to the robot controller.

[0036] The robot hand-guide device can have a first circumferential outer casing wall which is connected to the first connecting flange and which has a plurality of first connecting means arranged distributed over the circumferential outer casing wall.

[0037] The robot hand-guide device can have a second circumferential outer casing wall which is connected to the second connecting flange and which has a plurality of second connecting means arranged distributed over the circumferential outer casing wall.

[0038] The first connection flange can have a first electrical contact group which is designed to make electrical contact with a first mating contact group on the tool flange of the robot arm when the robot hand-held guide device is mechanically coupled to the tool flange of the robot arm in order to electrically connect the enabling switch, the confirmation switch, the emergency stop switch of the guide handle and / or the sensor device to the robot arm.

[0039] The second connection flange can have a second electrical contact group which is designed to make electrical contact with a second mating contact group of the tool when a tool is mechanically coupled to the second connection flange in order to electrically connect the tool to the robot hand-held device and / or to the robot arm.

[0040] The robot hand-guide device can have an at least substantially cylindrical housing with an at least substantially circular-cylindrical shell wall, wherein one circular end face of the housing is formed by the first connecting flange and the opposite other circular end face of the housing is formed by the second connecting flange.

[0041] Electrical, hydraulic, and / or pneumatic lines can be routed inside the housing. Electronic circuit boards, electronic components, and / or electrical contact pins can be located inside the housing. The electrical, hydraulic, and / or pneumatic lines can be used to carry process fluids from inside the robot arm through the interior of the robot handheld device to the tool. This eliminates the need for cables that would otherwise be required outside the robot handheld device. The housing can be made of plastic or metal.

[0042] The robot hand-held guiding device can have a control device which is configured to evaluate sensor signals of the sensor device when the guide handle is connected to the first connection means of the first connection flange, such that process forces and / or process moments are detected on the basis of the sensor signals of the sensor device when, by moving the guide handle, the robot hand-held guiding device connected with its first connection flange to a tool flange of a robot arm is moved together with the robot arm and a tool connected to the second connection flange of the robot hand-held guiding device is thereby handled.

[0043] The robot hand-held guiding device can have a control device which is configured to evaluate sensor signals of the sensor device when the guide handle is connected to the second connection means of the second connection flange, such that, on the basis of the sensor signals of the sensor device, a robot arm is controlled in its joint movements in a hand-held guiding mode when, by moving the guide handle, the robot hand-held guiding device, which is connected with its first connection flange to a tool flange of the robot arm, is moved together with the robot arm.

[0044] The robot hand-held guiding device can have a third connecting flange in addition to the first connecting flange and the second connecting flange, wherein the transmission device arranged between the first connecting flange and the second connecting flange forms a first transmission device to which a first sensor device is attached, which is designed to detect the forces and moments transmitted via the first transmission device, and a second transmission device is arranged between the first connecting flange and the third connecting flange, to which a second sensor device is attached, which is designed to detect the forces and moments transmitted via the second transmission device.

[0045] The robot hand-held guiding device can comprise a control device which is configured to evaluate sensor signals of the second sensor device when the guide handle is connected to the first connection means of the first connection flange, such that a robot arm is controlled in its joint movements in a hand-held guiding mode on the basis of the sensor signals of the second sensor device, and is configured to evaluate sensor signals of the first sensor device when the guide handle is connected to the first connection means of the first connection flange, such that process forces and / or process moments are detected on the basis of the sensor signals of the first sensor device,if, by moving the guide handle, the robot hand-held device connected to a tool flange of the robot arm by its third connection flange is moved together with the robot arm and thereby a tool connected to the second connection flange of the robot hand-held device is handled.

[0046] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Regardless of the specific context in which they are mentioned, specific features of these exemplary embodiments may represent general features of the invention, even when considered individually or in further combinations.

[0047] They show: Fig. 1 is a perspective view of an industrial robot having a robot arm, a robot controller, as well as a tool and a robot hand-held device according to the invention, Fig. 2 is a schematic representation of a representative embodiment of a robot hand-held device according to the invention with the housing removed, Fig. 3 is a schematic representation of a non-inventive example of a robot hand-held device with the housing removed, Fig. 4 is a perspective representation of a hand region of a robot arm with a tool flange, on which the robot hand-held device according to Fig. 3 Fig. 5 is a perspective view of an exemplary guide handle attached to the robot hand-held device according to Fig. 4 can be releasably attached, and Fig. 6 is a partial sectional view of a representative other example of a robot hand-held device according to the invention with electrical contact groups.

[0048] The Fig. 1 shows an industrial robot 1 having a robot arm 2 and a robot controller 10. In the present embodiment, the robot arm 2 comprises several successively arranged links G1 to G7 that are rotatably connected to one another by means of joints L1 to L6.

[0049] The industrial robot 1 has the robot controller 10, which is designed to execute a robot program, and the robot arm 2 with a plurality of links G1-G7, which are connected via joints L1-L6, which are designed to automatically adjust the links G1-G7 relative to one another according to the robot program, wherein one of the plurality of links G1-G7 forms an end link (G7) of the robot arm 2, which has a tool flange 8 with robot flange threaded bores 8.1 to 8.7 and a robot flange fitting bore 8.8, in particular a first bore pattern.

[0050] The robot controller 10 of the industrial robot 1 is designed or configured to execute a robot program by which the joints L1 to L6 of the robot arm 2 can be adjusted or rotated automatically according to the robot program or automatically in manual mode. For this purpose, the robot controller 10 is connected to controllable electric drives M1 to M6, which are designed to adjust the joints L1 to L6 of the industrial robot 1.

[0051] In the case of the present exemplary embodiment, the members G1 to G7 are a frame 3 and a carousel 4 which is mounted so as to be rotatable about a vertical axis A1 relative to the frame 3. Further members of the robot arm 2 are a rocker arm 5, an arm extension 6 and a preferably multi-axis robot hand 7 with a fastening device designed as a tool flange 8 for fastening a tool 11 or a force / torque sensor device 12 according to the invention. The rocker arm 5 is pivotally mounted on the carousel 4 at its lower end, i.e. at the joint L2 of the rocker arm 5, which can also be referred to as the rocker arm bearing head, about a preferably horizontal axis of rotation A2. In the case of the illustrated exemplary embodiment, the tool 11 is designed as a suction gripper, which is representative of any other type of robot tool. The tool 11 or the suction gripper has a fastening flange 11a.

[0052] At the upper end of the rocker arm 5, the arm extension 6 is pivotably mounted about a preferably horizontal axis A3 at the first joint L3 of the rocker arm 5. This arm extension carries the robot hand 7 at its end, with its preferably three rotation axes A4, A5, and A6. The joints L1 to L6 can each be driven by one of the electric drives M1 to M6 via the robot controller 10.

[0053] The robot arm 2 has a robot hand-held guiding device 12 as described below, which is screwed to the tool flange 8 of the robot arm 2 by means of fastening screws via a first connecting flange 14.1 of the robot hand-held guiding device 12.

[0054] In Fig. 2 the robot hand-guide device 12 is shown schematically in its basic design.

[0055] The robot hand-held device 12 has a first connection flange 14.1, which is designed to connect the robot hand-held device 12 to the tool flange 8 of the robot arm 2. The robot hand-held device 12 also has a second connection flange 14.2, which is designed to attach a tool 11 to be handled by the robot arm 2 to the robot hand-held device 12, as well as a transmission device 13, which is designed to transmit forces and moments between the first connection flange 14.1 and the second connection flange 14.2, and a sensor device 15 attached to the transmission device 13, which is designed to detect the forces and moments transmitted via the transmission device 13. The robot hand-held device 12 has at least one first connection means 16.1, which is connected to the first connection flange 14.1, and the at least one first connection means 16.1 is designed for the detachable connection of a guide handle 17 (. Fig. 5 ) of the robot hand-held device 12 to the first connection flange 14.1. For this purpose, the robot hand-held device 12 has a counter-connection means 29 which interacts both mechanically and electrically when connected to the first connection means 16.1 or second connection means 16.2.

[0056] The robot hand-held guiding device 12 has, in addition to the at least one first connecting means 16.1, at least one second connecting means 16.2 which is connected to the second connecting flange 14.2, wherein the at least one first connecting means 16.1 and the at least one second connecting means 16.2 are designed for selectively detachably connecting the guide handle 17 ( Fig. 5 ) of the robot hand-held device to the first connecting flange 14.1 or the second connecting flange 14.2.

[0057] The first connecting means 16.1 and the second connecting means 16.2 each have a mechanical coupling device 18.1, 18.2, which are designed for the non-positive and / or positive mechanical connection of the guide handle 17 ( Fig. 5 ) optionally with the respective first connection flange 14.1 or second connection flange 14.2.

[0058] The respective mechanical coupling device 18.1, 18.2 of the first connecting means 16.1 and the second connecting means 16.2 can comprise a mechanical safety device 28 ( Fig. 2 ) which is designed to enable operation of the guide handle 17 ( Fig. 5 ) exclusively at either the first connection means 16.1 or the second connection means 16.2.

[0059] In the embodiments according to Fig. 2 and Fig. 6 and the examples according to Fig.3 and Fig.4 the first connection means 16.1 and the second connection means 16.2 each also have an electrical contact means 19.1, 19.2, which are designed for electrically connecting an enabling switch 20, a confirmation switch 21 and / or an emergency stop switch 22 of the guide handle 17, as in Fig. 5 shown, in a state of the guide handle 17 mechanically coupled to the respective first connecting flange 14.1 or second connecting flange 14.2 with an electrical control device 27.

[0060] The robot hand-held guiding device 12 can have a safety control device 27a which is designed to permit operation of the guide handle 17 via the respective electrical contact means 19.1, 19.2 of the first connecting means 16.1 and the second connecting means 16.2 exclusively either in a state mechanically coupled to the first connecting means 16.1 or in a state mechanically coupled to the second connecting means 16.2.

[0061] The electrical control device 27, the safety control device 27a and / or an evaluation electronics 27b for the sensor device 15 can be accommodated in the guide handle 17 and / or in the robot hand-held device 12. The robot hand-held device 12 has, as shown in particular in Fig. 4 and Fig. 6 is shown, a first circumferential outer casing wall 23 which is connected to the first connecting flange 14.1 and which has a plurality of first connecting means 16.1 distributed over the circumferential outer casing wall 23.

[0062] The robot hand-guide 12 in the example according to Fig.4 and in the version according to Fig. 6 also has a second circumferential outer casing wall 24 which is connected to the second connecting flange 14.2 and which has a plurality of second connecting means 16.2 distributed over the circumferential outer casing wall 24.

[0063] In the Fig.4 example shown and the one in Fig. 6 In the embodiment variant shown, the robot hand-held guiding device 12 has, in addition to the first connecting flange 14.1 and the second connecting flange 14.2, a third connecting flange 14.3, wherein the transmission device 13 arranged between the first connecting flange 14.1 and the second connecting flange 14.2 forms a first transmission device 13.1, to which a first sensor device 15.1 is attached, which is designed to detect the forces and moments transmitted via the first transmission device 13.1, and a second transmission device 13.2 is arranged between the first connecting flange 14.1 and the third connecting flange 14.3, to which a second sensor device 15.2 is attached, which is designed to detect the forces and moments transmitted via the second transmission device 13.2.

[0064] The first connection flange 14.1 or, as in Fig. 6 shown, the third connection flange 14.3 has a first electrical contact group 25.1, which is designed to make electrical contact with a first mating contact group on the tool flange 8 of the robot arm 2 when the robot hand-held guide device 12 is mechanically coupled to the tool flange 8 of the robot arm 2, in order to electrically connect the enabling switch 20, the confirmation switch 21, the emergency stop switch 22 of the guide handle 17 and / or the first sensor device 15.1 and / or the second sensor device 15.2 to the robot arm 2 or its robot controller 10.

[0065] The second connection flange 14.2 can accordingly have the second electrical contact group 25.2, which is designed to make electrical contact with a second mating contact group of the tool 11 when a tool 11 is mechanically coupled to the second connection flange 14.2, in order to electrically connect the tool 11 to the robot hand-held guiding device 17 and / or to the robot arm 2 or its robot controller 10.

[0066] In the case of the present embodiments, the robot hand-held device 12 has an at least substantially cylindrical housing 26 ( Fig. 6 ) with an at least substantially circular-cylindrical shell wall, wherein one circular end face of the housing 26 is formed by the first connecting flange 14.1 and the opposite other circular end face of the housing 26 is formed by the second connecting flange 14.2.

[0067] The robot hand-guide 12, as shown in Fig. 2 shown, can have a control device 27 which is set up to evaluate sensor signals from the sensor device 15, 15.1 when the guide handle 17 is connected to the first connection means 16.1 of the first connection flange 14.1, in such a way that process forces and / or process moments are detected on the basis of the sensor signals from the sensor device 15, 15.1 when, by moving the guide handle 17, the robot hand-held guiding device 12, which is connected with its first connection flange 14.1 to a tool flange 8 of a robot arm 2, is moved together with the robot arm 2 and a tool 11 connected to the second connection flange 14.2 of the robot hand-held guiding device 12 is handled as a result.

[0068] The robot hand-guide 12, as shown in Fig. 2 shown, can have a control device 27 which is set up to evaluate sensor signals from the sensor device 15, 15.1 when the guide handle 17 is connected to the second connection means 16.2 of the second connection flange 14.2, in such a way that, on the basis of the sensor signals from the sensor device 15, 15.2, a robot arm 2 is controlled in its joint movements in a hand-guided mode when, by moving the guide handle 17, the robot hand-guided device 17, which is connected with its first connection flange 14.1 to a tool flange 8 of the robot arm 2, is moved together with the robot arm 2.

[0069] The robot hand-guide 12, as shown in Fig. 3 and Fig. 6shown, can have a control device 27 which is set up to evaluate sensor signals from the second sensor device 15.2 when the guide handle 17 is connected to the first connection means 16.1 of the first connection flange 14.1, in such a way that, on the basis of the sensor signals from the second sensor device 15.2, a robot arm 1 is controlled in its joint movements in a manual operation, and is set up to evaluate sensor signals from the first sensor device 15.1 when the guide handle 17 is connected to the first connection means 16.2 of the first connection flange 14.1, in such a way that, on the basis of the sensor signals from the first sensor device 15.1, process forces and / or process moments are detected when, by moving the guide handle 17, the robot arm 1 connected to its third connection flange 14.2 robot hand-held guiding device 17 connected to a tool flange 8 of the robot arm 2 is moved together with the robot arm 2 and thereby a tool 11 connected to the second connection flange 14.2 of the robot hand-held guiding device 17 is handled.

Claims

1. A robotic hand-held device comprising a first connection flange (14.1) which is designed for connecting the robotic hand-held device (12) to a tool flange (8) of a robotic arm (2), a second connection flange (14.2) which is designed for attaching a tool (11) to be handled by the robotic arm (2) to the robotic hand-held device (12), and a transmission device (13) which is designed to transmit forces and torques between the first connection flange (14.1) and the second connection flange (14.2) and a sensor device (15) attached to the transmission device (13), which is designed to detect the forces and torques transmitted via the transmission device (13), is characterized in that the robot hand-held device (12) has at least one first connecting device (16.1) which is connected to the first connection flange (14.1) and that at least one first connecting device (16.1) is formed for the detachable connection of a guide handle (17) of the robot hand-held device (12) to the first connection flange (14.1) and wherein the robotic hand-held device (12) has, in addition to at least one first connecting device (16.1), at least one second connecting device (16.2) which is connected to the second connection flange (14.2), and at least one first connecting device (16.1) and at least one second connecting device (16.2) are designed for optional detachable Connecting the guide handle (17) of the robot hand-held device (12) to the first connection flange (14.1) or the second connection flange (14.2).

2. A robot hand-held guide device according to claim 1, characterized in that the first connecting device (16.1) and the second connecting device (16.2) each have a mechanical coupling device (18.1, 18.2) which are designed for the force-fit and / or form-fitting mechanical connection of the guide handle (17) either with the respective first connection flange (14.1) or the second connection flange (14.2).

3. A robotic hand-held device according to claim 2, characterized in that the respective mechanical coupling device (18.1, 18.2) of the first connecting device (16.1) and the second connecting device (16.2) have a mechanical safety device (28) which is designed to allow operation of the guide handle (17) exclusively on either the first connecting device (16.1) or the second connecting device (16.2).

4. A robotic hand-held device according to any one of claims 1 to 3, characterized in that the first connecting means (16.1) and the second connecting means (16.2) each have an electrical contact means (19.1, 19.2) which are designed for electrically connecting an enabling switch (20), a confirmation switch (21) and / or an emergency stop switch (22) of the guide handle (17) in a connection connected mechanically to the respective first connection flange or second connection flange coupled state of the guide handle (17) with an electrical control device (27, 27a, 27b).

5. A robotic hand-held device according to claim 4, characterized by a safety control device (27a) which is designed to allow operation of the guide handle (17) via the respective electrical contact means (19.1, 19.2) of the first connection (16.1) and the second connection (16.2) exclusively either in a mechanically coupled state to the first connection (16.1) or in a state mechanically coupled to the second connection (16.2) coupled state.

6. A robotic hand-held device according to claim 4 or 5, characterized in that the electrical control device (27), the safety control device (27a) and / or an evaluation electronics (27b) for the sensor device (15) is housed in the guide handle (17) and / or in the robot hand-held device (12).

7. A robot hand-held device according to any one of claims 1 to 6, characterized in that the robotic hand-held device (12) has a first circumferential outer jacket wall (23) which is connected to the first connection flange (14.1) and which has several first connecting means (16.1) distributed over the circumferential outer jacket wall (23).

8. A robot hand-held device according to any one of claims 1 to 7, characterized in that the robotic hand-held device (12) has a second circumferential outer jacket wall (24) which is connected to the second connection flange (14.2) and which has several second connecting means (16.2) distributed over the circumferential outer jacket wall (24).

9. A robotic hand-held device according to any one of claims 1 to 8, characterized in that the first connection flange (14.1) has a first electrical contact group (25.1) which is designed to contact electrically in a mechanically coupled state of the robot hand-held device (12) to a first counter-contact group on the tool flange (8) of the robot arm (2) in order to contact the enabling switch (20), electrically connect the confirmation switch (21), the emergency stop switch (22) of the guide handle (17) and / or the sensor device (15) to the robot arm (2).

10. A robot hand-held device according to any one of claims 1 to 9, characterized in that the second connection flange (14.2) has a second electrical contact group (25.2) which is designed to contact each other electrically in a mechanically coupled state of a tool (11) with a second counter-contact group of the tool (11) in a mechanically coupled state to the second connection flange (14.2) in order to electrically connect the tool (11) with the robot hand-held device (12) and / or to the robotic arm (2).

11. Robotic hand-held apparatus according to claim 9 or 10, characterized in that the robotic hand-held apparatus (12) has at least substantially cylindrical housing (26) with at least substantially circular cylindrical shell wall, wherein a circular front of the housing (26) is formed by the first connection flange (14.1) and the opposite other circular front of the housing (26) is separated by the second connection flange (14.2).

12. A robot hand-held device according to any one of claims 1 to 11, comprising a control device (27) which is configured to evaluate sensor signals of the sensor device (15) in a state of the guide handle (17) connected to the first connection means (16.1) of the first connection flange (14.1), in such a way that process forces and / or process torques are detected on the basis of the sensor signals of the sensor device (15) if by moving the guide handle (17) the robot hand-held device (12) connected to a tool flange (8) of a robotic arm (2) with its first connection flange (14.1) is moved together with the robotic arm (2) and thereby a tool (11) connected to the second connection flange (14.2) of the robotic hand-held device (12) is handled.

13. A robotic hand-held device according to any one of claims 1 to 11, comprising a control device (27) which is configured to evaluate sensor signals of the sensor device (15) in a state of the guide handle (17) connected to the second connection means (16.2) of the second connection flange (14.2), in such a way that on the basis of the sensor signals of the sensor device (15) a robot arm (2) in a hand-held operation is controlled in its joint movements, if, by moving the guide handle (17), the robot hand handling device (12) connected to a tool flange (8) of the robot arm (2) with its first connection flange (14.1) is moved together with the robot arm (2).

14. A robotic hand-held device according to any one of claims 1 to 13, characterized in that the robotic hand-held device (12) has a third connection flange (14.3) in addition to the first connection flange (14.1) and the second connection flange (14.2), wherein the transmission device (13) arranged between the first connection flange (14.1) and the second connection flange (14.2) forms a first transmission device (13.1) on which a first sensor device (15.1) which is designed to detect the forces and torques transmitted via the first transmission device (13.1) and a second transmission device (13.2) is arranged between the first connection flange (14.1) and the third connection flange (14.3) to which a second sensor device (15.2) is attached which is designed to detect the forces and moments transmitted via the second transmission device (13.2).

15. A robot hand-held device according to claim 14, comprising a control device (27) which is configured to evaluate sensor signals of the second sensor device (15.2) in a state of the guide handle (17) connected to the first connection means (16.1) of the first connection flange (14.1), in such a way that on the basis of the sensor signals of the second sensor device (15.2) a robot arm (2) in a hand-held operation is controlled in its joint movements, and in the state of the guide handle (17) connected to the first connection means (16.1) of the first connection flange (14.1), sensor signals of the first sensor device (15.1) are to be evaluated in such a way that process forces and / or process torques are recorded on the basis of the sensor signals of the first sensor device (15.1) if, by moving the guide handle (17), the guide handle (14.3) connected to its third connection flange (14.3) on a tool flange (8) of the robot arm (2) connected robot hand-held device (12) is moved together with the robotic arm (2) and thereby a tool (11) connected to the second connection flange (14.2) of the robotic hand-held device (12) is handled.

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